lib/main/MAVLink/common/mavlink_msg_position_target_global_int.h

   1 // MESSAGE POSITION_TARGET_GLOBAL_INT PACKING
   2
   3 #define MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT 87
   4
   5 typedef struct __mavlink_position_target_global_int_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
   8  int32_t lat_int; ///< X Position in WGS84 frame in 1e7 * meters
   9  int32_t lon_int; ///< Y Position in WGS84 frame in 1e7 * meters
  10  float alt; ///< Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  11  float vx; ///< X velocity in NED frame in meter / s
  12  float vy; ///< Y velocity in NED frame in meter / s
  13  float vz; ///< Z velocity in NED frame in meter / s
  14  float afx; ///< X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  15  float afy; ///< Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  16  float afz; ///< Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  17  float yaw; ///< yaw setpoint in rad
  18  float yaw_rate; ///< yaw rate setpoint in rad/s
  19  uint16_t type_mask; ///< Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
  20  uint8_t coordinate_frame; ///< Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  21 } mavlink_position_target_global_int_t;
  22
  23 #define MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN 51
  24 #define MAVLINK_MSG_ID_87_LEN 51
  25
  26 #define MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC 150
  27 #define MAVLINK_MSG_ID_87_CRC 150
  28
  29
  30
  31 #define MAVLINK_MESSAGE_INFO_POSITION_TARGET_GLOBAL_INT { \
  32         "POSITION_TARGET_GLOBAL_INT", \
  33         14, \
  34         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_global_int_t, time_boot_ms) }, \
  35          { "lat_int", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_position_target_global_int_t, lat_int) }, \
  36          { "lon_int", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_position_target_global_int_t, lon_int) }, \
  37          { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_global_int_t, alt) }, \
  38          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_global_int_t, vx) }, \
  39          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_global_int_t, vy) }, \
  40          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_global_int_t, vz) }, \
  41          { "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_global_int_t, afx) }, \
  42          { "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_global_int_t, afy) }, \
  43          { "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_global_int_t, afz) }, \
  44          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_global_int_t, yaw) }, \
  45          { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_global_int_t, yaw_rate) }, \
  46          { "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_global_int_t, type_mask) }, \
  47          { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_global_int_t, coordinate_frame) }, \
  48          } \
  49 }
  50
  51
  52 /**
  53  * @brief Pack a position_target_global_int message
  54  * @param system_id ID of this system
  55  * @param component_id ID of this component (e.g. 200 for IMU)
  56  * @param msg The MAVLink message to compress the data into
  57  *
  58  * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
  59  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
  60  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
  61  * @param lat_int X Position in WGS84 frame in 1e7 * meters
  62  * @param lon_int Y Position in WGS84 frame in 1e7 * meters
  63  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
  64  * @param vx X velocity in NED frame in meter / s
  65  * @param vy Y velocity in NED frame in meter / s
  66  * @param vz Z velocity in NED frame in meter / s
  67  * @param afx X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  68  * @param afy Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  69  * @param afz Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
  70  * @param yaw yaw setpoint in rad
  71  * @param yaw_rate yaw rate setpoint in rad/s
  72  * @return length of the message in bytes (excluding serial stream start sign)
  73  */
  74 static inline uint16_t mavlink_msg_position_target_global_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  75                                                        uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
  76 {
  77 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  78         char buf[MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN];
  79         _mav_put_uint32_t(buf, 0, time_boot_ms);
  80         _mav_put_int32_t(buf, 4, lat_int);
  81         _mav_put_int32_t(buf, 8, lon_int);
  82         _mav_put_float(buf, 12, alt);
  83         _mav_put_float(buf, 16, vx);
  84         _mav_put_float(buf, 20, vy);
  85         _mav_put_float(buf, 24, vz);
  86         _mav_put_float(buf, 28, afx);
  87         _mav_put_float(buf, 32, afy);
  88         _mav_put_float(buf, 36, afz);
  89         _mav_put_float(buf, 40, yaw);
  90         _mav_put_float(buf, 44, yaw_rate);
  91         _mav_put_uint16_t(buf, 48, type_mask);
  92         _mav_put_uint8_t(buf, 50, coordinate_frame);
  93
  94         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
  95 #else
  96         mavlink_position_target_global_int_t packet;
  97         packet.time_boot_ms = time_boot_ms;
  98         packet.lat_int = lat_int;
  99         packet.lon_int = lon_int;
 100         packet.alt = alt;
 101         packet.vx = vx;
 102         packet.vy = vy;
 103         packet.vz = vz;
 104         packet.afx = afx;
 105         packet.afy = afy;
 106         packet.afz = afz;
 107         packet.yaw = yaw;
 108         packet.yaw_rate = yaw_rate;
 109         packet.type_mask = type_mask;
 110         packet.coordinate_frame = coordinate_frame;
 111
 112         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 113 #endif
 114
 115         msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT;
 116 #if MAVLINK_CRC_EXTRA
 117     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
 118 #else
 119     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 120 #endif
 121 }
 122
 123 /**
 124  * @brief Pack a position_target_global_int message on a channel
 125  * @param system_id ID of this system
 126  * @param component_id ID of this component (e.g. 200 for IMU)
 127  * @param chan The MAVLink channel this message will be sent over
 128  * @param msg The MAVLink message to compress the data into
 129  * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
 130  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
 131  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
 132  * @param lat_int X Position in WGS84 frame in 1e7 * meters
 133  * @param lon_int Y Position in WGS84 frame in 1e7 * meters
 134  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
 135  * @param vx X velocity in NED frame in meter / s
 136  * @param vy Y velocity in NED frame in meter / s
 137  * @param vz Z velocity in NED frame in meter / s
 138  * @param afx X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 139  * @param afy Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 140  * @param afz Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 141  * @param yaw yaw setpoint in rad
 142  * @param yaw_rate yaw rate setpoint in rad/s
 143  * @return length of the message in bytes (excluding serial stream start sign)
 144  */
 145 static inline uint16_t mavlink_msg_position_target_global_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 146                                                            mavlink_message_t* msg,
 147                                                            uint32_t time_boot_ms,uint8_t coordinate_frame,uint16_t type_mask,int32_t lat_int,int32_t lon_int,float alt,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
 148 {
 149 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 150         char buf[MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN];
 151         _mav_put_uint32_t(buf, 0, time_boot_ms);
 152         _mav_put_int32_t(buf, 4, lat_int);
 153         _mav_put_int32_t(buf, 8, lon_int);
 154         _mav_put_float(buf, 12, alt);
 155         _mav_put_float(buf, 16, vx);
 156         _mav_put_float(buf, 20, vy);
 157         _mav_put_float(buf, 24, vz);
 158         _mav_put_float(buf, 28, afx);
 159         _mav_put_float(buf, 32, afy);
 160         _mav_put_float(buf, 36, afz);
 161         _mav_put_float(buf, 40, yaw);
 162         _mav_put_float(buf, 44, yaw_rate);
 163         _mav_put_uint16_t(buf, 48, type_mask);
 164         _mav_put_uint8_t(buf, 50, coordinate_frame);
 165
 166         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 167 #else
 168         mavlink_position_target_global_int_t packet;
 169         packet.time_boot_ms = time_boot_ms;
 170         packet.lat_int = lat_int;
 171         packet.lon_int = lon_int;
 172         packet.alt = alt;
 173         packet.vx = vx;
 174         packet.vy = vy;
 175         packet.vz = vz;
 176         packet.afx = afx;
 177         packet.afy = afy;
 178         packet.afz = afz;
 179         packet.yaw = yaw;
 180         packet.yaw_rate = yaw_rate;
 181         packet.type_mask = type_mask;
 182         packet.coordinate_frame = coordinate_frame;
 183
 184         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 185 #endif
 186
 187         msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT;
 188 #if MAVLINK_CRC_EXTRA
 189     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
 190 #else
 191     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 192 #endif
 193 }
 194
 195 /**
 196  * @brief Encode a position_target_global_int struct
 197  *
 198  * @param system_id ID of this system
 199  * @param component_id ID of this component (e.g. 200 for IMU)
 200  * @param msg The MAVLink message to compress the data into
 201  * @param position_target_global_int C-struct to read the message contents from
 202  */
 203 static inline uint16_t mavlink_msg_position_target_global_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_global_int_t* position_target_global_int)
 204 {
 205         return mavlink_msg_position_target_global_int_pack(system_id, component_id, msg, position_target_global_int->time_boot_ms, position_target_global_int->coordinate_frame, position_target_global_int->type_mask, position_target_global_int->lat_int, position_target_global_int->lon_int, position_target_global_int->alt, position_target_global_int->vx, position_target_global_int->vy, position_target_global_int->vz, position_target_global_int->afx, position_target_global_int->afy, position_target_global_int->afz, position_target_global_int->yaw, position_target_global_int->yaw_rate);
 206 }
 207
 208 /**
 209  * @brief Encode a position_target_global_int struct on a channel
 210  *
 211  * @param system_id ID of this system
 212  * @param component_id ID of this component (e.g. 200 for IMU)
 213  * @param chan The MAVLink channel this message will be sent over
 214  * @param msg The MAVLink message to compress the data into
 215  * @param position_target_global_int C-struct to read the message contents from
 216  */
 217 static inline uint16_t mavlink_msg_position_target_global_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_target_global_int_t* position_target_global_int)
 218 {
 219         return mavlink_msg_position_target_global_int_pack_chan(system_id, component_id, chan, msg, position_target_global_int->time_boot_ms, position_target_global_int->coordinate_frame, position_target_global_int->type_mask, position_target_global_int->lat_int, position_target_global_int->lon_int, position_target_global_int->alt, position_target_global_int->vx, position_target_global_int->vy, position_target_global_int->vz, position_target_global_int->afx, position_target_global_int->afy, position_target_global_int->afz, position_target_global_int->yaw, position_target_global_int->yaw_rate);
 220 }
 221
 222 /**
 223  * @brief Send a position_target_global_int message
 224  * @param chan MAVLink channel to send the message
 225  *
 226  * @param time_boot_ms Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
 227  * @param coordinate_frame Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
 228  * @param type_mask Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
 229  * @param lat_int X Position in WGS84 frame in 1e7 * meters
 230  * @param lon_int Y Position in WGS84 frame in 1e7 * meters
 231  * @param alt Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
 232  * @param vx X velocity in NED frame in meter / s
 233  * @param vy Y velocity in NED frame in meter / s
 234  * @param vz Z velocity in NED frame in meter / s
 235  * @param afx X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 236  * @param afy Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 237  * @param afz Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 238  * @param yaw yaw setpoint in rad
 239  * @param yaw_rate yaw rate setpoint in rad/s
 240  */
 241 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 242
 243 static inline void mavlink_msg_position_target_global_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 244 {
 245 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 246         char buf[MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN];
 247         _mav_put_uint32_t(buf, 0, time_boot_ms);
 248         _mav_put_int32_t(buf, 4, lat_int);
 249         _mav_put_int32_t(buf, 8, lon_int);
 250         _mav_put_float(buf, 12, alt);
 251         _mav_put_float(buf, 16, vx);
 252         _mav_put_float(buf, 20, vy);
 253         _mav_put_float(buf, 24, vz);
 254         _mav_put_float(buf, 28, afx);
 255         _mav_put_float(buf, 32, afy);
 256         _mav_put_float(buf, 36, afz);
 257         _mav_put_float(buf, 40, yaw);
 258         _mav_put_float(buf, 44, yaw_rate);
 259         _mav_put_uint16_t(buf, 48, type_mask);
 260         _mav_put_uint8_t(buf, 50, coordinate_frame);
 261
 262 #if MAVLINK_CRC_EXTRA
 263     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
 264 #else
 265     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 266 #endif
 267 #else
 268         mavlink_position_target_global_int_t packet;
 269         packet.time_boot_ms = time_boot_ms;
 270         packet.lat_int = lat_int;
 271         packet.lon_int = lon_int;
 272         packet.alt = alt;
 273         packet.vx = vx;
 274         packet.vy = vy;
 275         packet.vz = vz;
 276         packet.afx = afx;
 277         packet.afy = afy;
 278         packet.afz = afz;
 279         packet.yaw = yaw;
 280         packet.yaw_rate = yaw_rate;
 281         packet.type_mask = type_mask;
 282         packet.coordinate_frame = coordinate_frame;
 283
 284 #if MAVLINK_CRC_EXTRA
 285     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
 286 #else
 287     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 288 #endif
 289 #endif
 290 }
 291
 292 #if MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 293 /*
 294   This varient of _send() can be used to save stack space by re-using
 295   memory from the receive buffer.  The caller provides a
 296   mavlink_message_t which is the size of a full mavlink message. This
 297   is usually the receive buffer for the channel, and allows a reply to an
 298   incoming message with minimum stack space usage.
 299  */
 300 static inline void mavlink_msg_position_target_global_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
 301 {
 302 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 303         char *buf = (char *)msgbuf;
 304         _mav_put_uint32_t(buf, 0, time_boot_ms);
 305         _mav_put_int32_t(buf, 4, lat_int);
 306         _mav_put_int32_t(buf, 8, lon_int);
 307         _mav_put_float(buf, 12, alt);
 308         _mav_put_float(buf, 16, vx);
 309         _mav_put_float(buf, 20, vy);
 310         _mav_put_float(buf, 24, vz);
 311         _mav_put_float(buf, 28, afx);
 312         _mav_put_float(buf, 32, afy);
 313         _mav_put_float(buf, 36, afz);
 314         _mav_put_float(buf, 40, yaw);
 315         _mav_put_float(buf, 44, yaw_rate);
 316         _mav_put_uint16_t(buf, 48, type_mask);
 317         _mav_put_uint8_t(buf, 50, coordinate_frame);
 318
 319 #if MAVLINK_CRC_EXTRA
 320     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
 321 #else
 322     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, buf, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 323 #endif
 324 #else
 325         mavlink_position_target_global_int_t *packet = (mavlink_position_target_global_int_t *)msgbuf;
 326         packet->time_boot_ms = time_boot_ms;
 327         packet->lat_int = lat_int;
 328         packet->lon_int = lon_int;
 329         packet->alt = alt;
 330         packet->vx = vx;
 331         packet->vy = vy;
 332         packet->vz = vz;
 333         packet->afx = afx;
 334         packet->afy = afy;
 335         packet->afz = afz;
 336         packet->yaw = yaw;
 337         packet->yaw_rate = yaw_rate;
 338         packet->type_mask = type_mask;
 339         packet->coordinate_frame = coordinate_frame;
 340
 341 #if MAVLINK_CRC_EXTRA
 342     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_CRC);
 343 #else
 344     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 345 #endif
 346 #endif
 347 }
 348 #endif
 349
 350 #endif
 351
 352 // MESSAGE POSITION_TARGET_GLOBAL_INT UNPACKING
 353
 354
 355 /**
 356  * @brief Get field time_boot_ms from position_target_global_int message
 357  *
 358  * @return Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
 359  */
 360 static inline uint32_t mavlink_msg_position_target_global_int_get_time_boot_ms(const mavlink_message_t* msg)
 361 {
 362         return _MAV_RETURN_uint32_t(msg,  0);
 363 }
 364
 365 /**
 366  * @brief Get field coordinate_frame from position_target_global_int message
 367  *
 368  * @return Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
 369  */
 370 static inline uint8_t mavlink_msg_position_target_global_int_get_coordinate_frame(const mavlink_message_t* msg)
 371 {
 372         return _MAV_RETURN_uint8_t(msg,  50);
 373 }
 374
 375 /**
 376  * @brief Get field type_mask from position_target_global_int message
 377  *
 378  * @return Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
 379  */
 380 static inline uint16_t mavlink_msg_position_target_global_int_get_type_mask(const mavlink_message_t* msg)
 381 {
 382         return _MAV_RETURN_uint16_t(msg,  48);
 383 }
 384
 385 /**
 386  * @brief Get field lat_int from position_target_global_int message
 387  *
 388  * @return X Position in WGS84 frame in 1e7 * meters
 389  */
 390 static inline int32_t mavlink_msg_position_target_global_int_get_lat_int(const mavlink_message_t* msg)
 391 {
 392         return _MAV_RETURN_int32_t(msg,  4);
 393 }
 394
 395 /**
 396  * @brief Get field lon_int from position_target_global_int message
 397  *
 398  * @return Y Position in WGS84 frame in 1e7 * meters
 399  */
 400 static inline int32_t mavlink_msg_position_target_global_int_get_lon_int(const mavlink_message_t* msg)
 401 {
 402         return _MAV_RETURN_int32_t(msg,  8);
 403 }
 404
 405 /**
 406  * @brief Get field alt from position_target_global_int message
 407  *
 408  * @return Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
 409  */
 410 static inline float mavlink_msg_position_target_global_int_get_alt(const mavlink_message_t* msg)
 411 {
 412         return _MAV_RETURN_float(msg,  12);
 413 }
 414
 415 /**
 416  * @brief Get field vx from position_target_global_int message
 417  *
 418  * @return X velocity in NED frame in meter / s
 419  */
 420 static inline float mavlink_msg_position_target_global_int_get_vx(const mavlink_message_t* msg)
 421 {
 422         return _MAV_RETURN_float(msg,  16);
 423 }
 424
 425 /**
 426  * @brief Get field vy from position_target_global_int message
 427  *
 428  * @return Y velocity in NED frame in meter / s
 429  */
 430 static inline float mavlink_msg_position_target_global_int_get_vy(const mavlink_message_t* msg)
 431 {
 432         return _MAV_RETURN_float(msg,  20);
 433 }
 434
 435 /**
 436  * @brief Get field vz from position_target_global_int message
 437  *
 438  * @return Z velocity in NED frame in meter / s
 439  */
 440 static inline float mavlink_msg_position_target_global_int_get_vz(const mavlink_message_t* msg)
 441 {
 442         return _MAV_RETURN_float(msg,  24);
 443 }
 444
 445 /**
 446  * @brief Get field afx from position_target_global_int message
 447  *
 448  * @return X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 449  */
 450 static inline float mavlink_msg_position_target_global_int_get_afx(const mavlink_message_t* msg)
 451 {
 452         return _MAV_RETURN_float(msg,  28);
 453 }
 454
 455 /**
 456  * @brief Get field afy from position_target_global_int message
 457  *
 458  * @return Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 459  */
 460 static inline float mavlink_msg_position_target_global_int_get_afy(const mavlink_message_t* msg)
 461 {
 462         return _MAV_RETURN_float(msg,  32);
 463 }
 464
 465 /**
 466  * @brief Get field afz from position_target_global_int message
 467  *
 468  * @return Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
 469  */
 470 static inline float mavlink_msg_position_target_global_int_get_afz(const mavlink_message_t* msg)
 471 {
 472         return _MAV_RETURN_float(msg,  36);
 473 }
 474
 475 /**
 476  * @brief Get field yaw from position_target_global_int message
 477  *
 478  * @return yaw setpoint in rad
 479  */
 480 static inline float mavlink_msg_position_target_global_int_get_yaw(const mavlink_message_t* msg)
 481 {
 482         return _MAV_RETURN_float(msg,  40);
 483 }
 484
 485 /**
 486  * @brief Get field yaw_rate from position_target_global_int message
 487  *
 488  * @return yaw rate setpoint in rad/s
 489  */
 490 static inline float mavlink_msg_position_target_global_int_get_yaw_rate(const mavlink_message_t* msg)
 491 {
 492         return _MAV_RETURN_float(msg,  44);
 493 }
 494
 495 /**
 496  * @brief Decode a position_target_global_int message into a struct
 497  *
 498  * @param msg The message to decode
 499  * @param position_target_global_int C-struct to decode the message contents into
 500  */
 501 static inline void mavlink_msg_position_target_global_int_decode(const mavlink_message_t* msg, mavlink_position_target_global_int_t* position_target_global_int)
 502 {
 503 #if MAVLINK_NEED_BYTE_SWAP
 504         position_target_global_int->time_boot_ms = mavlink_msg_position_target_global_int_get_time_boot_ms(msg);
 505         position_target_global_int->lat_int = mavlink_msg_position_target_global_int_get_lat_int(msg);
 506         position_target_global_int->lon_int = mavlink_msg_position_target_global_int_get_lon_int(msg);
 507         position_target_global_int->alt = mavlink_msg_position_target_global_int_get_alt(msg);
 508         position_target_global_int->vx = mavlink_msg_position_target_global_int_get_vx(msg);
 509         position_target_global_int->vy = mavlink_msg_position_target_global_int_get_vy(msg);
 510         position_target_global_int->vz = mavlink_msg_position_target_global_int_get_vz(msg);
 511         position_target_global_int->afx = mavlink_msg_position_target_global_int_get_afx(msg);
 512         position_target_global_int->afy = mavlink_msg_position_target_global_int_get_afy(msg);
 513         position_target_global_int->afz = mavlink_msg_position_target_global_int_get_afz(msg);
 514         position_target_global_int->yaw = mavlink_msg_position_target_global_int_get_yaw(msg);
 515         position_target_global_int->yaw_rate = mavlink_msg_position_target_global_int_get_yaw_rate(msg);
 516         position_target_global_int->type_mask = mavlink_msg_position_target_global_int_get_type_mask(msg);
 517         position_target_global_int->coordinate_frame = mavlink_msg_position_target_global_int_get_coordinate_frame(msg);
 518 #else
 519         memcpy(position_target_global_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN);
 520 #endif
 521 }